Subversion Repositories svnkaklik

/*****************************************************************************/

/*

 *  Board.cpp - communication with NGW100 Board Controller and I2C

 *

 *      Copyright (C) 2007  Karel Hojdar, KAKL

 *

 *      This program is free software; you can redistribute it and/or modify

 *      it under the terms of the GNU General Public License as published by

 *      the Free Software Foundation; either version 2 of the License, or

 *      (at your option) any later version.

 *

 *      This program is distributed in the hope that it will be useful,

 *      but WITHOUT ANY WARRANTY; without even the implied warranty of

 *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 *      GNU General Public License for more details.

 *

 *

 *

 *  Revision history

 *    15.06.2007   1.0   Undertaken from KAHO

 *    09.09.2007   2.0   I2C US Ranger

 */

/*****************************************************************************/

#include <iostream>

#include <getopt.h>

#include <errno.h>

#include <string.h>

#include <pthread.h>

#include <stdio.h>

#include <stdlib.h>

#include <unistd.h>

#include "linux/i2c-dev.h"

#include "linux/i2c.h"

#include <sys/ioctl.h>

#include <sys/types.h>

#include <sys/stat.h>

#include <fcntl.h>

using namespace std;

#define CMPS03_SOFTWARE_REVISION 0x0

#define SRF02_SOFTWARE_REVISION 0x0

#define I2C_SLAVE	0x0703	/* Change slave address			*/

#define I2C_RDWR	0x0707	/* Combined R/W transfer (one stop only)*/

#define I2C_SLAVE_FORCE	0x0706	/* Change slave address			*/

				/* Attn.: Slave address is 7 or 10 bits */

				/* This changes the address, even if it */

				/* is already taken!	*/

#define BC_Addr	    0x0B

#define US_Addr	    0x70 // 0xE0 in fact

#define PIC_Addr	0x50 // 0xA0 in fact

char vystup[30];

pthread_t thread_id;

FILE *pRouraO,*pRouraI;

unsigned int vzdalenost;

char command,ble;

void *print_tele(void *unused);

void DoExit(int ex)

{

	exit(ex);

}

unsigned char xfunc[5] = {0x99, 0x9A, 0x9B, 0x9E, 0x8D};

unsigned char xlen[5] = {8, 6, 1, 15, 2};

int main(int argc, char *argv[], char *envp[])

{

	int Len;

	int	i2cbus = 0;

	char filename[20],Buf[64];

	int file;

	fprintf(stdout, "Ble................");

	sprintf(filename, "/dev/i2c-%d", i2cbus);

	file = open(filename, O_RDWR);

	if (file < 0)

	{

		cerr << "Could not open /dev/i2c-0." << endl;

		return -1;

	}

	if (ioctl(file, I2C_SLAVE, BC_Addr) == -1)

	{

		fprintf(stderr, "Failed to set address to 0x%02x.\n", BC_Addr);

		DoExit(-2);

	}

    Buf[0] = xfunc[0];

    if ( write(file, Buf, 1) != 1)

    {

        fprintf(stderr, "Failed to write byte to address to 0x%02x, errno %i.\n", BC_Addr, errno);

        DoExit(-3);

    }

    if (read(file, Buf, 1) != 1)

    {

        fprintf(stderr, "Failed to read response length, errno %i.\n", errno);

        DoExit(-4);

    }

    Len = Buf[0];

    if (read(file, Buf, Len) != Len)

    {

        fprintf(stderr, "Failed to read response, errno %i.\n", errno);

        DoExit(-5);

    }

    Buf[Len] = 0x00;

    fprintf(stdout, "Board ID is %s.\n", Buf);

//!------ US ---------------------------------------------------------------------------

    pthread_create(&thread_id, NULL, print_tele, NULL);

    while(true)

    {

        if (ioctl(file, I2C_SLAVE, US_Addr) == -1)

        {

            fprintf(stderr, "Failed to set address to 0x%02x.\n", US_Addr);

            DoExit(-6);

        }

        Buf[0]=0x0;

        Buf[1]=0x51;

        write(file, Buf, 2);

        usleep(80000);

        read(file, Buf, 3);

        vzdalenost=(Buf[1]*256+Buf[2]);

        usleep(300000);

        if (ioctl(file, I2C_SLAVE, PIC_Addr) == -1)

        {

            fprintf(stderr, "Failed to set address to 0x%02x.\n", US_Addr);

            DoExit(-6);

        }

        Buf[0]=command;

        write(file, Buf, 1);

        read(file, Buf, 1);

        ble=Buf[0];

    };

	close(file);

    pthread_join(thread_id, NULL);

    fclose(pRouraO);

	return 0;

}

void *print_tele(void *unused)

{

    while(1)

    {

        pRouraI = fopen("/home/ble/pipe","r");

        command=fgetc(pRouraI);

        fclose(pRouraI);

        pRouraO = fopen("/home/ble/pipe","w");

        fprintf(pRouraO,"Vzdalenost: %u cm Command: %x\n",vzdalenost,ble);

        fclose(pRouraO);

    }

}